Quote:
Originally Posted by Tom Bottiglieri
I'l like to elaborate on my last post a bit. We did run the vision code continuously, but the control loops only relied on one valid frame and the vision processing ran in a separate task with lower priority than the main robot code/communications task. The vision task slept enough to not cause particularly high CPU usage. When we were looking for a frame, we would use the last processed frame (if we got a good result within the last, say, 100ms) or wait for a fresh result to appear.
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Just to make sure I understand this... on a separate low priority thread you were continuously grabbing the latest image, thresholding, filtering, calculating distance/angle/position then sleeping for a bit. Then whenever your shooter pressed the shoot button you would check to make sure a valid calculation was made within the last 100ms or so and then use the last calculated distance/angle/position to align the robot and spool up the shooter wheel?
If the image processing was only taking 100ms what was the advantage of running it continuously? Was the image quality degraded because the robot may have been still moving?